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Virtual Chain Approach for Mobility Analysis of Multiloop Deployable Mechanisms.pdf

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Virtual Chain Approach for Mobility Analysis of Multiloop Deployable Mechanisms

Hailin Huang Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Kowloon, Hong Kong 999077, China e-mail: haihuang@.hk Zongquan Deng School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China e-mail: denzq@ Xiaozhi Qi Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China e-mail: ixiaozhiq@163.com Bing Li1 Professor e-mail: libing.sgs@ Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China Virtual Chain Approach for Mobility Analysis of Multiloop Deployable Mechanisms In this paper, we present a virtual chain approach for the mobility analysis of multiloop deployable mechanisms. First, the relative motion of the links of single-loop units in mul- tiloop mechanisms are analyzed using the equivalent motion of certain types of open-loop virtual kinematic chains; these kinematic chains comprise some types of joints connected in series by flexible links. This reveals that the links in these virtual chains are not rigid when the mechanism is moving. The parameters of these virtual kinematic chains (such as the link length, the twist angle of two adjacent revolute joint axes, and so on) are vari- able. By using this approach that involves equivalent kinematic chains, the multiloop mechanisms can be considered equivalent to single-loop mechanisms with flexible links; the closure equations of such multiloop mechanisms can also be derived. The analytical procedures are explained using examples of multiloop mechanisms in which Myard mechanisms as used as the basic single-loop units. A prototype is also fabricated to dem- onstrate the feasibility of the proposed multiloop mechanism. The proposed method yields a more intuitive and straightforward insight into the mobility of complicated multiloop mechanisms. [DOI: 10.1115/1.4025383] Keywords: flexible links, multiloop mechanisms, mobile assembly, virtual kinematic chain 1 Introduction Multiloop mechan